A Design Method of Human-machine Cooperative Telemanipulation System Based on Extended virtual Tool Dynamics

Tomotaka Itoh, Akitaka Andoh, Takashi Matsui, Kazuhiro Kosuge, Toshio Fukuda

研究成果: Article査読

抄録

This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system.

本文言語English
ページ(範囲)4364-4371
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
65
639
DOI
出版ステータスPublished - 1999
外部発表はい

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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